Wheel speed verification system

ABSTRACT

An anti-skid control circuit for a wheeled vehicle and a method of processor computation confirmation within such an anti-skid control circuit includes the confirmation of proper processor operation only at a certain one of the computation values. Rotation of a vehicle wheel Provides a pulse train the repetition rate of which is indicative of the vehicle speed. A sequence of program steps is repetitively executed in a microprocessor (17) over a fixed time interval with the microprocessor (17) repeating that same predetermined sequence of program steps during each successive said fixed time interval. A second pulse train is provided having one pulse for each repetition of the sequence of program steps. The speed of at least one vehicle wheel is repetitively computed according to the repetition rate of the first pulse train and the repetition rates of the first and second pulse trains are compared, and corrective action is initiated in the event that the compared repetition rates differ by more than a prescribed amount. The comparison is effected only at a certain specific wheel speed. Alternatively, a computed wheel speed may be compared to the fixed time interval and the anti-skid circuit allowed to continue in operation only so long as the compared wheel speed and time interval are within predetermined limits of one another. Again, the step of comparing is effected only at a certain specific wheel speed.

This is a divisional of co-pending application Ser. no. 07/763,708 filedon Sep. 23, 1991 now U.S. Pat. No. 5,193,886.

SUMMARY OF THE INVENTION

The present invention relates generally to vehicular braking systems andmore particularly to vehicle braking systems having anti-skid features.

Automobile drivers accustomed to driving under snowy or icy conditionsare familiar with the technique of "pumping" the brake pedal so as tocyclically increase and decrease the braking force exerted on the wheelssuch that a slipping wheel having a tendency to lock is permitted tore-accelerate back to speed corresponding to the speed of the vehicle.Such a driver induced anti-skid or antilock technique is simulated bymany known anti-skid devices For example, U.S. Pat. No. 2,957,659 adaptsknown skid-preventing techniques where a skid preventing apparatuscontrols a solenoid anti-skid valve by detecting the initiation of wheelskidding due to the application of excessive brake pedal pressure,automatically enables the solenoid and releases the brakes allowingrecovery of wheel speed, and then detects the ensuing acceleration ofthe wheel to de-energize the solenoid and reapply the brakes. U.S. Pat.No. 3,776,605 illustrates an attempt to provide an electro-hydraulicbraking system having anti-skid capabilities which has the "feel" of aconventional purely hydraulic system. In this patented arrangement, thebrake pedal is manually controlled against a spring force to develop anelectrical signal which is directly proportional to the degree of pedaldepression. A signal inversely proportional to the degree of skid of thewheels is generated and compared to this signal and the lower of the twois selected to drive an electrohydraulic valve which controls hydraulicpressure to the brakes.

An error in, for example, the computation of wheel speed in suchantilock braking systems could be disastrous. An error in wheel speeddetermination may cause erroneous antilock cycling resulting inincreased distance on what should have been a non-antilock stop. In theworst case, should the system falsely detect a wheel as being locked(zero speed) the system could release the braking pressure so thatdespite operator brake pedal pressure, no braking occurs.

U.S. Pat. No. 4,546,437 addresses the question of reliability of a brakeslip control apparatus by providing redundant microprocessors operatingunder the same software. When inconsistent results are recognized, thebrake slip control circuit is disabled and an error signal occurs. Asimilar approach is disclosed in U.S. Pat. No. 4,113,321 wherein asecondary circuit identical to the primary arithmetic circuit isutilized. The outputs of the primary and secondary circuits are comparedand if an error occurs in either the comparator detects the error andrenders the anti-skid system inoperable.

Many different types of wheel speed (or position) sensing transducersare known not only for conventional odometer and speedometer indicationapplications, but also for use in controlling the operation of vehicleanti-skid systems. For example, U. S. Pat. No. 3,949,252 discloses wheelhubcap mounted permanent magnets and a sensing coil fixed to the axleadjacent the hubcap in which a series of pulses are induced as the wheelrotates. Such an arrangement is essentially an alternating currentgenerator having an output frequency proportional to the angularvelocity of the wheel, and since the effective wheel diameter is known,also proportional to vehicle speed.

U.S. Pat. No. 4,767,164 discloses an optical wheel speed sensor for usein an anti-skid system utilizing a rotating disk having alternatereflective and transmissive segments along with a single optical fiberwhich both conducts light to the wheel and provides a return path for amodulated light wave having a component the frequency of which isproportional to wheel speed.

While complete redundancy has some merit, it is costly to implement. Itwould be desirable to provide adequate error checking on processorcomputations in an antilock braking system without the need for completeredundancy. Applicant's assignee currently manufactures an anti-skidelectronic control unit having two microprocessors, one of which is asmall, inexpensive microprocessor that is used to confirm that theprimary relatively costly processor (controller) is executing itsinstructions in proper order and to provide a statistical check on valvesignals from that main controller. This failsafe processor lacks thecapacity or speed to independently compute wheel speed and, thus, doesnot currently confirm the accuracy of the main processor's wheel speeddetermination.

Among the several objects of the present invention may be noted theprovision of an economical wheel speed computation confirmation systemin a brake control system; the provision of an antilock braking systemcontrol circuit with wheel speed computation confirmation; the provisionof an antilock braking system control circuit which allows the use of amodest capacity processor to confirm a computation made by a processorof significantly greater capacity; the provision of a technique whichextends the error checking capabilities of existing antilock brakingsystem control circuits; and the provision of a processor computationconfirmation technique where confirmation occurs only at certain ones ofthe computation values. These as well as other objects and advantageousfeatures of the present invention will be in part apparent and in partpointed out hereinafter.

In general, a combined brake and anti-skid controller for a wheeledvehicle has an anti-skid control circuit which includes an encoder forsensing rotation of a vehicle wheel and providing a first pulse trainthe repetition rate of which is indicative of the vehicle speed as wellas a first processor for repetitively executing a sequence of programsteps over a fixed time interval. The processor repeats the samepredetermined sequence of program steps during each successive saidfixed time interval. There is a second pulse train generator which isresponsive to operation of the first processor for providing a secondpulse train having one pulse for each repetition of the sequence ofprogram steps. A second processor is instructed to compute wheel speedin response to a command from the first processor upon the firstprocessor's detection of a certain wheel speed on a particular wheel.The second processor repetitively computes wheel speed specificallyrequested by the first processor. As an alternative, and in response tocomputation of a specific wheel speed by the first processor, acomparison of the specific wheel speed to the fixed time interval of thesecond processor may be effected and the anti-skid circuit allowed tocontinue in operation only so long as the compared specific wheel speedand time interval are within predetermined limits of one another.

Also in general in one form of the invention, a method of confirming awheel speed determination includes the steps of determining the rate atwhich a processor repetitively cycles through a list of instructions andselecting a particular wheel speed at which confirmation is to beeffected. The selected particular wheel speed value is typicallyintegrally related to the determined rate. The wheel speed determinationat the selected particular wheel speed is compared with the rate atwhich the processor repetitively cycles through the list of instructionsand control of the braking force in an antilock braking system isinterrupted in the event the comparison fails to confirm the wheel speeddetermination. Rotation of a vehicle wheel provides a pulse train therepetition rate of which is indicative of the vehicle speed and thecomparison is between the pulse train repetition rate and the rate atwhich the processor is repetitively cycling through its list ofinstructions. Alternatively, the comparison may be between the computedwheel speed and the determined rate at which the processor repetitivelycycles through its list of instructions.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic representation of an antilock brake electroniccontrol system incorporating the present invention in one form;

FIG. 2 is a schematic representation of an antilock brake electroniccontrol system similar to that of FIG. 1, but illustrating some of thepossible variations on the present invention;

FIG. 3 illustrates the failsafe microprocessor software loop time, wheelspeed input for the main and failsafe microprocessors, and the mainmicroprocessor enable signal; and

FIG. 4 is a software flow diagram of the wheel speed verification systemand process.

Like reference numbers identify like components in the drawing FIGURES.

The exemplifications set out herein illustrate a Preferred embodiment ofthe invention in one form thereof and such exemplifications are not tobe construed as limiting the scope of the disclosure or the scope of theinvention in any manner.

DESCRIPTION OF THE PREFERRED EMBODIMENT

In FIG. 1, a wheel speed encoding wheel 11 is fixed to rotate with aparticular vehicle wheel. It will be understood that there may be foursuch encoding wheels, each associated with a particular vehicle wheel.The wheel has a series of teeth the passage of which is detected bymagnetic pickup 13. Thus, the signal on line 19 is a pulse train havinga repetition rate indicative of the speed of the vehicle wheel. Whilethe number is arbitrary, eight teeth are shown in FIG. 1, hence therepetition rate of the pulse train on line 19 is eight times the numberof revolutions per second of the wheel.

In prior art antilock braking systems, main processor 15 computes thewheel speed which is used to control the antilock circuits and controlvalves 23 in known manner while failsafe processor 17 confirms thatprocessor 15 has executed its instructions in the proper order as wellas checking of valve control signals from the main processor, and otherministerial functions. This known prior art antilock braking system doesnot confirm the computation of wheel speed by processor 15 becauseprocessor 17 is of limited capacity and is not capable of effecting thatredundant computation sufficiently rapidly.

The present invention provides for a confirmation of the wheel speedindication on line 21 by sensing for a particular frequency (wheelspeed) on that line and initiating confirmation at that particularspeed. The particular speed is selected to be the same as (or anintegral scale factor of) the rate at which microprocessor 17 repeatsits instruction sequence. When speed detector 25 senses the particularspeed, the instruction cycle count 29 is gated to supply a signalindicative of its cycle rate on line 49, and the main microprocessor 15sends an enable signal via line 33 to failsafe microprocessor 17 toinitiate the verification of the computed wheel speed. At comparecircuit 45, the speed signal on line 21 is then compared to the rate atwhich the failsafe computer 17 is repeating its instruction sequence asrepresented by the signal on line 49. If the two signals do not comparewithin some predetermined limits, the antilock feature is disabled by asignal on line 43 and vehicle braking reverts to conventional. Theinstruction cycle count 29 is actually a part of processor 17, but isillustrated separately for clarity. The instruction cycle repetitionrate may also be compared to the repetition rate (or a scale factorthereof) of the speed indicative pulse train from sensor 13 as shown inFIG. 2.

In FIG. 2, the speed indicative signal on line 19 is also supplied to acounter 35 and then multiplied or divided by an appropriate scale factor(e.g. 8 as shown) so that the pulse rate supplied by scale factorcircuit 39 to frequency comparator 41 is in wheel revolutions persecond. Scale factors other than the number of pulses per revolutionmay, of course, be used in either the circuit of FIG. 1 or that of FIG.2 depending on the particular instruction cycle rate of processor 17 andthe wheel speed at which confirmation is desired. The instruction ratecounter 37 also supplies a pulse train having a repetition rate of onepulse per complete execution of the instruction set of the failsafemicroprocessor 17. If the comparator 41 indicates the two pulse trainshave the same (within limits) repetition rates, the antilock feature isallowed to continue, but if the comparison is not within safe limits, asignal on line 43 disables the antilock feature as before.

The circuits of FIGS. 1 and 2 implement the same concept in somewhatdifferent ways. Compare circuit 45 of FIG. 1 compares two numbers, onethe computed wheel speed from line 21, and the other a number indicativeof the time to execute the failsafe processor instruction sequence online 49. Either number may be appropriately scaled if desired.Comparator 41 of FIG. 2 compares two pulse trains, one a pulse frominstruction rate counter 37 for each repetition of its instruction setand the other a pulse train from the wheel speed encoding arrangement online 19 appropriately scaled if desired. Comparator 41 is enabled tocompare these two pulse trains by a signal on line 27 only when thecomputed wheel speed is detected by frequency detector 31. In eithercase, the comparison is only effected when the computed wheel speeddetected by the speed or frequency detectors is the same as theinstruction repetition rate of the failsafe microprocessor 17.

There are numerous particular ways in which the process of confirmingwheel speed determination at a particular wheel speed may beaccomplished. For example, the main microprocessor 15 detects the wheelspeed (perhaps in MPH, RPM, or as a pulse train of specified repetitionrate) that correlates with the known failsafe microprocessor 17 softwareexecution loop time whereupon, the processor 15 sends a "verify wheelspeed" command to processor 17. Processor 17 looks for a singletransition during each software loop at the scale factor 39 output.These translations may be counted by the processor 17 and the number oftransitions over a period of time should be the same as the number ofsoftware loops. If those two numbers differ by more than some prescribedlimits, anti-skid operation is interrupted.

FIGS. 3 and 4 are an example of the operation of the wheel speedverification logic. Chart (A) of FIG. 3 shows a failsafe microprocessorsoftware loop time comprising, for example, three millisecond periods.Chart (B) of FIG. 3 shows an asynchronous speed input for the mainmicroprocessor and failsafe microprocessor. In Chart (B) the wheel speedis decreasing to the point where the speed input is synchronous or atapproximately the same repetition rate as the failsafe microprocessorsoftware loop time. Upon the speed input matching the failsafemicroprocessor software loop time, the main microprocessor sends anenable signal (see Chart (C) of FIG. 3) to the failsafe microprocessortelling the failsafe microprocessor that it can verify the wheel speed.Upon detection of the verified wheel speed signal from the mainmicroprocessor (see FIG. 4) via line 33, the failsafe microprocessor 17then executes the software steps illustrated in FIG. 4. If the verifywheel speed signal is enabled from the main microprocessor, then, over atime period, a comparison (compare circuit 45 or comparator 41) is madebetween a number of wheel speed transitions and a number of failsafemicroprocessor loop times. If there is a match between these two inputs,then the wheel speed is found to be correct and the main microprocessorsoftware loop is continued (Block 70). Otherwise, if there is a mismatchbetween the wheel speed transitions and the number of failsafemicroprocessor software loop times, then a wheel speed input failure isdetected (Block 80) and the antilock braking system is disabled via line43.

From the foregoing, it is now apparent that a novel error checkingfeature for a brake control anti-skid arrangement has been disclosedmeeting the objects and advantageous features set out hereinbefore aswell as others, and that numerous modifications as to the preciseshapes, configurations and details may be made by those having ordinaryskill in the art. For example, either a magnet or an optical pick-up maybe used to provide the speed or position inputs utilized by the systemof the present invention. As another example, the computation of speedsat integral multiples of the reciprocal of the failsafe microprocessorloop time are easily confirmed. These as well as other modificationswill be recognized by those of ordinary skill in the art and may be madewithout departing from the spirit of the invention or the scope thereofas set out by the claims which follow.

What is claimed is:
 1. In a process of monitoring a motion of a vehiclewheel and controlling an application of a braking force to the wheel toarrest wheel motion so as to prevent wheel locking, a method ofconfirming a wheel speed determination comprising the stepsof:determining a cycle rate at which a processor repetitively cyclesthrough a list of instructions; selecting a wheel speed determination atwhich confirmation is to be effected, the selected wheel speeddetermination being integrally related to the determined cycle rate;comparing the selected wheel speed determination at the selectedparticular wheel speed with the cycle rate at which the processorrepetitively cycles through the list of instructions; and interruptingthe controlling of the braking force in the event the comparison failsto confirm the wheel speed determination.
 2. The method of claim 1,wherein the process includes sensing rotation of the vehicle wheel andproviding a pulse train a repetition rate of which is indicative ofvehicle speed, and the step of comparing the pulse train repetition ratewith the rate at which the processor is repetitively cycling through thelist of instructions.
 3. The method of claim 1, wherein the processincludes sensing rotation of the vehicle wheel and providing a pulsetrain a repetition rate of which is indicative of vehicle speed andcomputing the wheel speed from that pulse train, and the step ofcomparing the computed wheel speed with the determined rate at which theprocessor repetitively cycles through the list of instructions.
 4. Themethod of claim 3, wherein the pulse train is an integral multiple ofthe wheel speed in revolutions per minute, the method including theadditional step of dividing the pulse train repetition rate by saidmultiple prior to the step of comparing.
 5. In an anti-skid controlcircuit for a wheeled vehicle, a method of processor computationconfirmation where confirmation occurs only at a certain one ofcomputation values, comprising the steps of:sensing rotation of at leastone vehicle wheel and providing a pulse train a repetition rate of whichis indicative of vehicle speed; repetitively executing a predeterminedsequence of program steps in a microprocessor over a fixed timeinterval, the microprocessor repeating the predetermined sequence ofprogram steps during successive fixed time intervals; repetitivelycomputing the speed of said at least one vehicle wheel in response tothe pulse train; comparing the computed wheel speed to said fixed timeinterval and allowing the anti-skid control circuit to continue inoperation only so long as the compared wheel speed and time interval arewithin predetermined limits of one another, the comparison beingeffected only at a certain specific wheel speed.
 6. In an anti-skidcontrol circuit for a wheeled vehicle, a method of processor computationconfirmation where confirmation occurs only at a certain one ofcomputation values, comprising the steps of:sensing rotation of at leastone vehicle wheel and providing a first pulse train a repetition rate ofwhich is indicative of vehicle speed; repetitively executing apredetermined sequence of program steps in a microprocessor over a fixedtime interval, the microprocessor repeating the predetermined sequenceof program steps during successive fixed time intervals; providing asecond pulse train having one pulse for each repetition of the sequenceof program steps; repetitively computing the speed of said at least onevehicle wheel according to the repetition rate of the first pulse train;and comparing the repetition rates of the first and second pulse trainsand initiating corrective action in the event that the comparedrepetition rates differ by more than a prescribed amount, the comparisonbeing effected only at a certain specific wheel speed.